public static void addGroup(Group g)
{
groups.Add(g);
g.IsParented = true;
numGroups++;
g.Init();
}
public void addCollidable(Group g)
{
this.CollisionList.Add(g);
}
private void checkCollisionVsGroup(Group g)
{
// check particles and constraints not in composites of either group
CheckCollisionsVsCollection(g);
// for every composite in this group..
foreach (Composite c in _composites)
{
// check vs the particles and constraints of g
c.CheckCollisionsVsCollection(g);
// check vs composites of g
foreach (Composite gc in g.Composites)
c.CheckCollisionsVsCollection(gc);
}
// check particles and constraints of this group vs the composites of g
foreach (Composite gc in g.Composites)
CheckCollisionsVsCollection(gc);
}
public static void removeGroup(Group g)
{
groups.Remove(g);
}
public RobotDemo()
{
APEngine.init(1 / 4);
//APEngine.container = this;
APEngine.addMasslessForce(new Vector(0, 4));
APEngine.Damping = .99f;
APEngine.ConstraintCollisionCycles = 10;
robot = new Robot(1250, 260, 1.6f, 0.02f);
Group terrainA = new Group();
Group terrainB = new Group(true);
Group terrainC = new Group();
RectangleParticle floor = new RectangleParticle(600, 390, 1700, 100, 0, true, 1, 0, 1);
floor.SetStyle(0, 0, 0x999999);
terrainA.Particles.Add(floor);
// pyramid of boxes
RectangleParticle box0 = new RectangleParticle(600, 337, 600, 7, 0, true, 10, 0, 1);
box0.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box0);
RectangleParticle box1 = new RectangleParticle(600, 330, 500, 7, 0, true, 10, 0, 1);
box1.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box1);
RectangleParticle box2 = new RectangleParticle(600, 323, 400, 7, 0, true, 10, 0, 1);
box2.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box2);
RectangleParticle box3 = new RectangleParticle(600, 316, 300, 7, 0, true, 10, 0, 1);
box3.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box3);
RectangleParticle box4 = new RectangleParticle(600, 309, 200, 7, 0, true, 10, 0, 1);
box4.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box4);
RectangleParticle box5 = new RectangleParticle(600, 302, 100, 7, 0, true, 10, 0, 1);
box5.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box5);
// left side floor
RectangleParticle floor2 = new RectangleParticle(-100, 390, 1100, 100, 0.3f, true, 1, 0, 1);
floor2.SetStyle(0, 0, 0x999999);
terrainB.Particles.Add(floor2);
RectangleParticle floor3 = new RectangleParticle(-959, 232, 700, 100, 0, true, 1, 0, 1);
floor3.SetStyle(0, 0, 0x999999);
terrainB.Particles.Add(floor3);
RectangleParticle box6 = new RectangleParticle(-990, 12, 50, 25, 0);
box6.SetStyle(1, 0x999999, 0x336699);
terrainB.Particles.Add(box6);
RectangleParticle floor5 = new RectangleParticle(-1284, 170, 50, 100, 0, true);
floor5.SetStyle(0, 0, 0x999999);
terrainB.Particles.Add(floor5);
// right side floor
RectangleParticle floor6 = new RectangleParticle(1430, 320, 50, 60, 0, true);
floor6.SetStyle(0, 0, 0x00999999);
terrainC.Particles.Add(floor6);
APEngine.addGroup(robot);
APEngine.addGroup(terrainA);
APEngine.addGroup(terrainB);
APEngine.addGroup(terrainC);
robot.addCollidable(terrainA);
robot.addCollidable(terrainB);
robot.addCollidable(terrainC);
robot.togglePower();
}
